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fix: multistatic canonicalization, csi_fps burst inflation, control-packet starvation (#1170, #1180, #1183) (#1193)

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#1170 — live multistatic bridge fed raw, un-canonicalized per-node CSI
(64/128/192 bins) to MultistaticFuser, tripping DimensionMismatch every
cycle and silently disabling fusion on mixed HT20/HT40 meshes. Add
HardwareNormalizer::resample_to_canonical (resample-only, no z-score) and
canonicalize every node frame onto the 56-tone grid before fusion.

#1180 — update_csi_fps_ema only rejected dt<=0 or >=1s, so sub-ms UDP-burst
arrivals (36us -> ~27kHz) inflated csi_fps_ema 40-840x. Add a 5ms plausibility
floor and stop re-anchoring observe_csi_frame_arrival on burst deltas.

#1183 — global ENOMEM backoff (CSI flood) starved <=48B/<=1Hz control packets.
Add stream_sender_send_priority() bypassing the backoff gate without touching
the streak; route feature_state/HEALTH/sync through it. Fix the misleading
"HEALTH sent" log that printed even on rv_mesh_send failure.

Verified: signal 501, sensing-server 677 tests (0 failed); firmware builds clean.


Claude-Session: https://claude.ai/code/session_01AgpTcBLRJ32hUsKWxDXf36
This commit is contained in:
rUv
2026-06-27 13:04:44 -04:00
committed by GitHub
parent 7831f29436
commit fca5e6f0a0
10 changed files with 267 additions and 22 deletions
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firmware/esp32-csi-node/main/adaptive_controller.c
+9 -4
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@@ -319,7 +319,9 @@ static void emit_feature_state(void)
(uint64_t)esp_timer_get_time(),
profile);
int sent = stream_sender_send((const uint8_t *)&pkt, sizeof(pkt));
/* feature_state is ~1 Hz and small — priority path so the CSI ENOMEM
* backoff can't starve it (#1183). */
int sent = stream_sender_send_priority((const uint8_t *)&pkt, sizeof(pkt));
if (sent < 0) {
ESP_LOGW(TAG, "feature_state emit failed");
}
@@ -333,11 +335,14 @@ static void slow_loop_cb(TimerHandle_t t)
* detect sync-error drift. */
uint8_t nid[8];
node_id_bytes(nid);
rv_mesh_send_health(s_role, s_mesh_epoch, nid);
/* #1183: report the actual send result — the old log printed "HEALTH sent"
* unconditionally even when rv_mesh_send returned ESP_FAIL. */
esp_err_t health_rc = rv_mesh_send_health(s_role, s_mesh_epoch, nid);
ESP_LOGI(TAG, "slow tick (state=%u, feature_state_seq=%u, role=%u, epoch=%u) HEALTH sent",
ESP_LOGI(TAG, "slow tick (state=%u, feature_state_seq=%u, role=%u, epoch=%u) HEALTH %s",
(unsigned)s_state, (unsigned)s_feature_state_seq,
(unsigned)s_role, (unsigned)s_mesh_epoch);
(unsigned)s_role, (unsigned)s_mesh_epoch,
health_rc == ESP_OK ? "sent" : "FAILED");
}
/* ---- Public API ---- */